Containment for double-integrator multi-agent systems in heterogeneous networks

This paper is concerned with the containment control for a group of double-integrator agents with multiple dynamic leaders communicating over heterogeneous networks, i.e., the position and velocity network topologies are modeled by different graphs. Different containment control algorithms are proposed and analyzed for the two cases that the leaders move with the same constant velocity and the same time-varying velocity, respectively. For the former case the sufficient conditions provided for guaranteeing the containment control are structural and thus easy to verify. Though the conditions proposed for the latter case that leaders move with time-varying velocity are algebraic, such algebraic conditions can be satisfied if the position and velocity network topologies among the follower agents are undirected.